Contributo in volume, 2020, ENG, 10.1007/978-3-030-38561-3_12

Design of Timeline-Based Planning Systems for Safe Human-Robot Collaboration

Orlandini, Andrea and Cialdea Mayer, Marta and Umbrico, Alessandro and Cesta, Amedeo

CNR-ISTC, Università ROMA TRE, CNR-ISTC, CNR-ISTC

During the last decade, industrial collaborative robots have entered assembly cells supporting human workers in repetitive and physical demanding operations. Such human-robot collaboration (HRC) scenarios entail many open issues. The deployment of highly flexible and adaptive plan-based controllers is capable of preserving productivity while enforcing human safety is then a crucial requirement. The deployment of plan-based solutions entails knowledge engineers and roboticists interactions in order to design well-suited models of robotic cells considering both operational and safety requirements. So, the ability of supporting knowledge engineering for integrating high level and low level control (also from non-specialist users) can facilitate deployment of effective and safe solutions in different industrial settings. In this chapter, we will provide an overview of some recent results concerning the development of a task planning and execution technology and its integration with a state of the art Knowledge Engineering environment to deploy safe and effective solutions in realistic manufacturing HRC scenarios. We will briefly present and discuss a HRC use case to demonstrate the effectiveness of such integration discussing its advantages.

Keywords

artificial intelligence, timeline-based planning, knowledge engineering, human-robot collaboration

CNR authors

Orlandini Andrea, Umbrico Alessandro, Cesta Amedeo

CNR institutes

ISTC – Istituto di scienze e tecnologie della cognizione